cmake_minimum_required(VERSION 2.8.3)
project(graspit_interface)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
    message_generation
    std_msgs
    geometry_msgs
    sensor_msgs
    roscpp
    actionlib
    actionlib_msgs)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Qt4 COMPONENTS QtCore  REQUIRED)
find_package(graspit)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
 add_message_files(
   DIRECTORY msg
   FILES
   Body.msg
   GraspableBody.msg
   Robot.msg
   TactileSensorData.msg
   Grasp.msg
   Planner.msg
   SearchSpace.msg
   SearchContact.msg
   Energy.msg
   Contact.msg
   SimAnnParams.msg
 )

## Generate services in the 'srv' folder
 add_service_files(
   DIRECTORY srv
   FILES
   GetRobot.srv
   GetGraspableBody.srv
   GetBody.srv
   GetBodies.srv
   GetRobots.srv
   GetGraspableBodies.srv
   SetGraspableBodyPose.srv
   SetRobotPose.srv
   SetBodyPose.srv
   GetDynamics.srv
   SetDynamics.srv
   SetRobotDesiredDOF.srv
   ForceRobotDOF.srv
   MoveDOFToContacts.srv
   AutoGrasp.srv
   AutoOpen.srv
   ImportRobot.srv
   ImportObstacle.srv
   ImportGraspableBody.srv
   LoadWorld.srv
   SaveWorld.srv
   ClearWorld.srv
   SaveImage.srv
   ToggleAllCollisions.srv
   ComputeQuality.srv
   ComputeEnergy.srv
   ApproachToContact.srv
   FindInitialContact.srv
   DynamicAutoGraspComplete.srv
 )


 add_action_files(
   DIRECTORY action
   FILES
   PlanGrasps.action
 )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs 
   sensor_msgs
   geometry_msgs
   actionlib_msgs
   actionlib
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES graspit_interface
  CATKIN_DEPENDS geometry_msgs std_msgs message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########

include(${QT_USE_FILE})
set(CMAKE_INCLUDE_CURRENT_DIR ON)

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include
                    ${catkin_INCLUDE_DIRS}
                    ${GRASPIT_INCLUDE_DIRS}
                    ${QT_INCLUDES})

ADD_DEFINITIONS(${QT_DEFINITIONS})

set(MOCS
    include/graspit_interface.h)

qt4_wrap_cpp(GENERATED_SOURCES ${MOCS})

## Declare a C++ library
# add_library(graspit_interface
#   src/${PROJECT_NAME}/graspit_interface.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(graspit_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
add_library(graspit_interface
    src/graspit_interface.cpp
    src/main.cpp
    ${GENERATED_SOURCES}
    ${MOCS})

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(graspit_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${QT_DEFINITIONS})
add_dependencies(graspit_interface ${PROJECT_NAME}_gencpp)

## Specify libraries to link a library or executable target against
target_link_libraries(graspit_interface
  ${catkin_LIBRARIES}
  ${QT_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS graspit_interface graspit_interface_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_graspit_interface.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
